摘要
针对输电线路无人机巡检的应用背景,在巡线过程中无人机需要对目标物准确定位,以免发生碰撞造成坠机的损失。以钢化玻璃绝缘子为研究对象,从跟踪的实时性与准确性方面考虑,通过对绝缘子在空间最大类间方差法分割与尺度变化调整策略,实现绝缘子的多尺度跟踪。根据相机成像原理,通过伪像距的测距算法计算无人机与绝缘子之间的距离。实验结果表明,提出的算法不仅能够有效跟踪目标,而且能够准确的得到绝缘子与无人机之间的距离,测距精度较高,在无人机巡检线路的场景中有良好的应用前景。
For the unmanned aerial vehicle to inspect the transmission lines, the drones need to locate accurately and avoid collision. Real - time accurate multi - scale insulator tracking is achieved by using glass insulators and the Otsu method to segment insulators in Lab space and scale adjusted for changes in policy. By the camera imaging principle, we calculates the distance between the UAV and the insulator by pseudo - image distance. Experimental results show that the proposed algorithm offers both effective target tracking and accurate calculation of the distance between the insulator and the UAV, with good prospects in UAV inspecting transmission lines.
出处
《电子科技》
2017年第5期124-127,共4页
Electronic Science and Technology
关键词
无人机
输电线路
绝缘子
多尺度跟踪
测距
unmanned aerial vehicle
transmission line
insulator
multi - scale tracking
ranging
